Random Weighting Estimation Method for Dynamic Navigation Positioning

• Published in: Chinese journal of aeronautics 2011-06, Vol.24 (3), p.318-323
• Main Authors: GAO, Shesheng, GAO, Yi, ZHONG, Yongmin, WEI, Wenhui
• Format: Article
• Language: English
• Subjects: covariance matrix; dynamic navigation positioning; Dynamical systems; Dynamics; error; Errors; estimation; kinematic model error; Mathematical analysis; Mathematical models; Navigation; observation model error; random weighting estimation; Vectors (mathematics); Weighting; 估计方法; 协方差矩阵; 导航定位精度; 扩展卡尔曼滤波; 自适应窗口; 误差控制; 运动学模型; 随机加权估计
• ISSN: 1000-9361
• DOI: 10.1016/S1000-9361(11)60037-X

This paper presents a new random weighting estimation method for dynamic navigation positioning. This method adopts the concept of random weighting estimation to estimate the covariance matrices of system state noises and observation noises for controlling the disturbances of singular observations and the kinematic model errors. It satisfies the practical requirements of the residual vector and innovation vector to sufficiently utilize observation information, thus weakening the disturbing effect of the kinematic model error and observation model error on the state parameter estimation. Theories and algorithms of random weighting estimation are established for estimating the covariance matrices of observation residual vectors and innovation vec- tors. This random weighting estimation method provides an effective solution for improving the positioning accuracy in dynamic navigation. Experimental results show that compared with the Kalman filtering, the extended Kalman filtering and the adaptive windowing filtering, the proposed method can adaptively determine the covariance matrices of observation error and state error, effectively resist the disturbances caused by system error and observation error, and significantly improve the positioning accu- racy for dynamic navigation.